Explore the shared message interfaces in qrb_ros_interfaces

The qrb_ros_interfaces collection serves as a centralized repository for all QRB ROS related communication interfaces, ensuring standardization and consistency across various QRB ROS nodes. Each package within the collection provides specific interface definitions crucial for enabling interoperability and efficient data exchange between components interacting with QRB hardware or software. The following table lists the interface packages currently included in this collection, with the status, description, and interface types of each package.

Interface package name	Status	Description	Interface type (Contains)
`qrb_ros_amr_msgs`	Active	QRB autonomous mobile robot (AMR) ROS msg	message, service, action
`qrb_ros_audio_common_msgs`	Active	QRB ROS audio common messages	message, action
`qrb_ros_audio_service_msgs`	Active	QRB ROS audio service messages	message, service
`qrb_ros_navigation_msgs`	Active	QRB Navigation ROS messages	message, service
`qrb_ros_robot_base_msgs`	Active	QRB ROS robot base messages	message, service
`qrb_ros_sensor_service_msgs`	Deprecated	QRB ROS Sensor Service Interfaces	message, service
`qrb_ros_slam_msgs`	Active	Messages ROS Package for QRB simultaneous localization and mapping (SLAM) Service call	message, service
`qrb_ros_system_monitor_msgs`	Active	System monitor interfaces	message, service
`qrb_ros_tensor_list_msgs`	Active	Messages for model inference	message
`qrb_ros_vision_msgs`	Active	Messages for computer vision pipelines	message

Prerequisites

You have set up the device, installed ROS2 Jazzy and the Qualcomm Intelligent Robotics (QIR) SDK on the device according to Install the QIR SDK.

Run out-of-the-box `qrb_ros_interfaces`

Install the qrb_ros_interfaces packages

Install the packages

sudo apt install ros-jazzy-qrb-ros-tensor-list-msgs

Use this package

List the package interfaces

source /opt/ros/jazzy/setup.bash
ros2 interface package qrb_ros_tensor_list_msgs

Terminal listing the two interfaces in the qrb_ros_tensor_list_msgs package: Tensor and TensorList.

Echo scan in another terminal

Show the Tensor message definition

source /opt/ros/jazzy/setup.bash
ros2 interface show qrb_ros_tensor_list_msgs/msg/Tensor

Terminal output of the Tensor message definition showing the name string, data_type integer, shape array, and data buffer fields.

Build and run `qrb_ros_interfaces`

Install dependencies

Install the dependencies

sudo apt install ros-dev-tools colcon

Clone the repository to the device

Clone the repository

mkdir -p ~/qrb_ros_ws/src
cd ~/qrb_ros_ws/src
source /opt/ros/jazzy/setup.bash
git clone https://github.com/qualcomm-qrb-ros/qrb_ros_interfaces.git

Resolve dependencies

Resolve the dependencies

source /opt/ros/jazzy/setup.sh
cd ~/qrb_ros_ws
sudo rosdep install -i --from-path src --rosdistro jazzy -y

Build and run

Build the workspace

colcon build

Open a new terminal, go to qrb_ros_ws, and source the setup files

Source the setup files and inspect the interfaces

source install/setup.bash
ros2 interface package qrb_ros_tensor_list_msgs
ros2 interface show qrb_ros_tensor_list_msgs/msg/Tensor

​Prerequisites

​Run out-of-the-box qrb_ros_interfaces

​Build and run qrb_ros_interfaces

Prerequisites

Run out-of-the-box `qrb_ros_interfaces`

Build and run `qrb_ros_interfaces`